Yep... just open Safari then go to the File menu then Export bookmarks and pick Desktop as the save location. That will save an HTML file to the Desktop called Safari Bookmarks. You can actually just transmit that if you want as the HTML file contains all the bookmark links.
Or if you want to make it into a PDF... double click that file on the Desktop to open the HTML file in Safari. Then hit command-p to bring up the print dialogue. In the lower left of that dialogue box click PDF then Save as PDF and pick Desktop as the save location.
This will give you a PDF that includes all your bookmarks as clickable HTML links